12,618 research outputs found

    High Performance Algorithms for Counting Collisions and Pairwise Interactions

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    The problem of counting collisions or interactions is common in areas as computer graphics and scientific simulations. Since it is a major bottleneck in applications of these areas, a lot of research has been carried out on such subject, mainly focused on techniques that allow calculations to be performed within pruned sets of objects. This paper focuses on how interaction calculation (such as collisions) within these sets can be done more efficiently than existing approaches. Two algorithms are proposed: a sequential algorithm that has linear complexity at the cost of high memory usage; and a parallel algorithm, mathematically proved to be correct, that manages to use GPU resources more efficiently than existing approaches. The proposed and existing algorithms were implemented, and experiments show a speedup of 21.7 for the sequential algorithm (on small problem size), and 1.12 for the parallel proposal (large problem size). By improving interaction calculation, this work contributes to research areas that promote interconnection in the modern world, such as computer graphics and robotics.Comment: Accepted in ICCS 2019 and published in Springer's LNCS series. Supplementary content at https://mjsaldanha.com/articles/1-hpc-ssp

    Digital predictions of complex cylinder packed columns

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    A digital computational approach has been developed to simulate realistic structures of packed beds. The underlying principle of the method is digitisation of the particles and packing space, enabling the generation of realistic structures. Previous publications [Caulkin, R., Fairweather, M., Jia, X., Gopinathan, N., & Williams, R.A. (2006). An investigation of packed columns using a digital packing algorithm. Computers & Chemical Engineering, 30, 1178–1188; Caulkin, R., Ahmad, A., Fairweather, M., Jia, X., & Williams, R. A. (2007). An investigation of sphere packed shell-side columns using a digital packing algorithm. Computers & Chemical Engineering, 31, 1715–1724] have demonstrated the ability of the code in predicting the packing of spheres. For cylindrical particles, however, the original, random walk-based code proved less effective at predicting bed structure. In response to this, the algorithm has been modified to make use of collisions to guide particle movement in a way which does not sacrifice the advantage of simulation speed. Results of both the original and modified code are presented, with bulk and local voidage values compared with data derived by experimental methods. The results demonstrate that collisions and their impact on packing structure cannot be disregarded if realistic packing structures are to be obtained

    Coupled DEM-LBM method for the free-surface simulation of heterogeneous suspensions

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    The complexity of the interactions between the constituent granular and liquid phases of a suspension requires an adequate treatment of the constituents themselves. A promising way for numerical simulations of such systems is given by hybrid computational frameworks. This is naturally done, when the Lagrangian description of particle dynamics of the granular phase finds a correspondence in the fluid description. In this work we employ extensions of the Lattice-Boltzmann Method for non-Newtonian rheology, free surfaces, and moving boundaries. The models allows for a full coupling of the phases, but in a simplified way. An experimental validation is given by an example of gravity driven flow of a particle suspension

    Revisión de literatura de jerarquía volúmenes acotantes enfocados en detección de colisiones

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    (Eng) A bounding volume is a common method to simplify object representation by using the composition of geometrical shapes that enclose the object; it encapsulates complex objects by means of simple volumes and it is widely useful in collision detection applications and ray tracing for rendering algorithms. They are popular in computer graphics and computational geometry. Most popular bounding volumes are spheres, Oriented-Bounding Boxe s (OBB’ s), Axis-Align ed Bound ing Boxes (AABB’ s); moreover , the literature review includes ellipsoids, cylinders, sphere packing, sphere shells , k-DOP’ s, convex hulls, cloud of points, and minimal bounding boxe s, among others. A Bounding Volume Hierarchy is ussualy a tree in which the complete object is represented thigter fitting every level of the hierarchy. Additionally, each bounding volume has a cost associated to construction, update, and interference te ts. For instance, spheres are invariant to rotation and translations, then they do not require being updated ; their constructions and interference tests are more straightforward then OBB’ s; however, their tightness is lower than other bounding volumes. Finally , three comparisons between two polyhedra; seven different algorithms were used, of which five are public libraries for collision detection.(Spa) Un volumen acotante es un método común para simplificar la representación de los objetos por medio de composición de formas geométricas que encierran el objeto; estos encapsulan objetos complejos por medio de volúmenes simples y son ampliamente usados en aplicaciones de detección de colisiones y trazador de rayos para algoritmos de renderización. Los volúmenes acotantes son populares en computación gráfica y en geometría computacional; los más populares son las esferas, las cajas acotantes orientadas (OBB’s) y las cajas acotantes alineadas a los ejes (AABB’s); no obstante, la literatura incluye elipses, cilindros empaquetamiento de esferas, conchas de esferas, k-DOP’s, convex hulls, nubes de puntos y cajas acotantes mínimas, entre otras. Una jerarquía de volúmenes acotantes es usualmente un árbol, en el cual la representación de los objetos es más ajustada en cada uno de los niveles de la jerarquía. Adicionalmente, cada volumen acotante tiene asociado costos de construcción, actualización, pruebas de interferencia. Por ejemplo, las esferas so invariantes a rotación y translación, por lo tanto no requieren ser actualizadas en comparación con los AABB no son invariantes a la rotación. Por otro lado la construcción y las pruebas de solapamiento de las esferas son más simples que los OBB’s; sin embargo, el ajuste de las esferas es menor que otros volúmenes acotantes. Finalmente, se comparan dos poliedros con siete algoritmos diferentes de los cuales cinco son librerías públicas para detección de colisiones

    Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot

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    Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to adapt to a wide variety of terrains and workspaces during a mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and an anthropomorphic upper body to carry out complex tasks in environments too dangerous for humans. Due to its high number of degrees of freedom, controlling the robot with direct teleoperation approaches is challenging and exhausting. Supervised autonomy approaches are promising to increase quality and speed of control while keeping the flexibility to solve unknown tasks. We developed a set of operator assistance functionalities with different levels of autonomy to control the robot for challenging locomotion and manipulation tasks. The integrated system was evaluated in disaster response scenarios and showed promising performance.Comment: In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 201
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